diff --git a/multi_sessions_20251119_182727/collection_summary.txt b/multi_sessions_20251119_182727/collection_summary.txt deleted file mode 100644 index 8071c025ac9c6626866db16108a76e083d2c37d7..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/collection_summary.txt +++ /dev/null @@ -1,93 +0,0 @@ -======================================== -多会话XVisio数据采集摘要（Buffered版本） -======================================== -开始时间: 2025年 11月 19日 星期三 18:27:29 CST -设备模式: 单设备 -设备数量: 1 -计划会话数: 5 -会话间隔: 3秒 -摘要目录: ./multi_sessions_20251119_182727 -ToF模式: off -Python脚本: ./single_session_data_collector_buffered.py -配置文件: ../start_process/config.json -======================================== - -设备信息: - XV序列号: 250801DR48FP25002087 - Vive序列号: LHR_B728E669 - 设备标签: main - - -========================================== -会话 1 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:27:29 CST - 输出目录: ./multi_sessions_20251119_182727/session_001 - 结束时间: 2025年 11月 19日 星期三 18:27:44 CST - 持续时间: 15秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182727/session_001 - -========================================== -会话 2 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:27:48 CST - 输出目录: ./multi_sessions_20251119_182727/session_002 - 结束时间: 2025年 11月 19日 星期三 18:28:02 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182727/session_002 - -========================================== -会话 3 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:28:06 CST - 输出目录: ./multi_sessions_20251119_182727/session_003 - 结束时间: 2025年 11月 19日 星期三 18:28:18 CST - 持续时间: 12秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182727/session_003 - -========================================== -会话 4 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:28:22 CST - 输出目录: ./multi_sessions_20251119_182727/session_004 - 结束时间: 2025年 11月 19日 星期三 18:28:36 CST - 持续时间: 14秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182727/session_004 - -========================================== -会话 5 信息: -========================================== - 开始时间: 2025年 11月 19日 星期三 18:28:39 CST - 输出目录: ./multi_sessions_20251119_182727/session_005 - 结束时间: 2025年 11月 19日 星期三 18:28:56 CST - 持续时间: 17秒 - 状态: 成功 - 数据验证: 通过 - 数据目录: ./multi_sessions_20251119_182727/session_005 - -========================================== -采集完成总结: -========================================== -完成时间: 2025年 11月 19日 星期三 18:28:56 CST -成功会话数: 5 -失败会话数: 0 -总计划会话数: 5 -实际完成会话数: 5 -成功率: 100% - -数据目录结构: -./multi_sessions_20251119_182727/ -├─ session_001/ -├─ session_002/ -├─ session_003/ -├─ session_004/ -├─ session_005/ -└─ collection_summary.txt diff --git a/multi_sessions_20251119_182727/session_001/Clamp_Data/clamp.csv b/multi_sessions_20251119_182727/session_001/Clamp_Data/clamp.csv deleted file mode 100644 index 3e8b2f29055eba6722927eb61a0a1bc9fbf27490..0000000000000000000000000000000000000000 --- 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a/multi_sessions_20251119_182727/session_001/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_182727/session_001/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 1fce3e53a909ac85d6d03b6c3d1b331bddbf96c3..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_001/Merged_Trajectory/merge_stats.txt +++ /dev/null @@ -1,37 +0,0 @@ -轨迹融合统计信息（基于速度的动态融合） -============================================================ - -融合配置: - 速度阈值: 1.0 m/s - 融合频率: 120 Hz - 时间匹配阈值: 0.01 s - 基准传感器: VIVE (100Hz) - 辅助传感器: SLAM (500Hz) - -融合策略: - 1. 都低速 → 均值融合 (SLERP) - 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) - 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) - 4. 都高速 → 不输出（跳过该帧） - -融合结果统计: - 总融合点数: 765 - 均值融合 (都低速): 765 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:27:41 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182727/session_001/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182727/session_001/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index ce1c7e219295195e31d1a7032d024a09bd2f9ff0..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_001/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,766 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158646.17597699165,0.0011265313503973,0.0010072962161135,0.0007418295470996,-0.0020277399848426,-0.003911716918348,0.0023308933465834,0.9999875767615872 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-0.011593024276045971 -0.006382394323446504 0.9997888373384576 -158653.821979 0.005930764179602477 -0.011757965637892312 0.015746541209836776 0.015774968481340305 -0.011659993625898014 -0.006510472629861826 0.9997863815156679 -158653.82398 0.005920463480523122 -0.011806076946036194 0.01572812104957795 0.015763221160737875 -0.011613219408688027 -0.006558405896828842 0.9997867979252856 diff --git a/multi_sessions_20251119_182727/session_001/Vive_Poses/offset_info.txt b/multi_sessions_20251119_182727/session_001/Vive_Poses/offset_info.txt deleted file mode 100644 index 1eed18c8f9e9b546bacba396417be79e40ab1ef3..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_001/Vive_Poses/offset_info.txt +++ /dev/null @@ -1,18 +0,0 @@ -Vive 时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 158646.175977s - Vive 第一帧时间戳: 1763548052.062397s - 计算的 offset: -1763389405.886420s - 对齐公式: vive_aligned = vive_original + -1763389405.886420 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:27:41 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182727/session_001/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182727/session_001/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index e94b0f106e5e4ff2ae979f8f1e860f6ada2eb445..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_001/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,765 +0,0 @@ -158646.17597699165 0.0003999266105424448 0.001541617111627737 -0.0003682614791861993 -0.0013489426372421602 0.0009140720534139044 0.0025074176771601106 0.9999955288313218 -158646.18619513512 0.0006083577275736024 0.0014822828831774514 -0.0002686688210955226 -0.0012692127776691548 0.0009348310404494827 0.002468459208922155 0.9999957109402943 -158646.1960735321 0.0005653538925443208 0.0014346805248793503 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VIVE高速，SLAM正常 → 使用SLAM (500Hz) - 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) - 4. 都高速 → 不输出（跳过该帧） - -融合结果统计: - 总融合点数: 775 - 均值融合 (都低速): 775 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:27:59 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182727/session_002/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182727/session_002/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index c18887ce20c217b695c570b0236b3eedd9cb7617..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_002/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,776 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158664.28398108482,-3.51668716413317e-05,-0.0002991891635535,0.0004838023861324,-0.0017482569186516,-0.0041031343032307,-0.0011036451361263,0.9999894448713194 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-0.013128492240130421 0.020708887261028253 0.01200658546857061 -0.00021977764329753478 -0.01756764168969364 0.9997735601468144 diff --git a/multi_sessions_20251119_182727/session_002/Vive_Poses/offset_info.txt b/multi_sessions_20251119_182727/session_002/Vive_Poses/offset_info.txt deleted file mode 100644 index cfaca5c2893404445cb70727743aae6365d9cc80..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_002/Vive_Poses/offset_info.txt +++ /dev/null @@ -1,18 +0,0 @@ -Vive 时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 158664.283981s - Vive 第一帧时间戳: 1763548070.162514s - 计算的 offset: -1763389405.878533s - 对齐公式: vive_aligned = vive_original + -1763389405.878533 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:27:59 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git 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-============================================================ - -融合配置: - 速度阈值: 1.0 m/s - 融合频率: 120 Hz - 时间匹配阈值: 0.01 s - 基准传感器: VIVE (100Hz) - 辅助传感器: SLAM (500Hz) - -融合策略: - 1. 都低速 → 均值融合 (SLERP) - 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) - 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) - 4. 都高速 → 不输出（跳过该帧） - -融合结果统计: - 总融合点数: 676 - 均值融合 (都低速): 676 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:28:16 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182727/session_003/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182727/session_003/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 8a7ac30bfb362f81029d5f96998a45e433491077..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_003/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,677 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158682.02197790146,0.0001982141497654,-0.0006548887683781,0.0004016453045688,-0.0018360095971659,-0.0045394030020126,-0.0017084632481428,0.999986551930812 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744e34490f416b64b9d6b9bc4d1d6bc19ed186c8..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_003/Vive_Poses/offset_info.txt +++ /dev/null @@ -1,18 +0,0 @@ -Vive 时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 158682.021978s - Vive 第一帧时间戳: 1763548087.902443s - 计算的 offset: -1763389405.880465s - 对齐公式: vive_aligned = vive_original + -1763389405.880465 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:28:16 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182727/session_003/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182727/session_003/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 0e870b773d54bb3912d2bd5c20030c2d649c2d90..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_003/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,677 +0,0 @@ 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87.43127506757487 -158705.764793000 87.43127506757487 -158705.769531000 87.43127506757487 diff --git a/multi_sessions_20251119_182727/session_004/Merged_Trajectory/merge_stats.txt b/multi_sessions_20251119_182727/session_004/Merged_Trajectory/merge_stats.txt deleted file mode 100644 index 118a2356b07c532aee949947ba02b4549366c094..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_004/Merged_Trajectory/merge_stats.txt +++ /dev/null @@ -1,37 +0,0 @@ -轨迹融合统计信息（基于速度的动态融合） -============================================================ - -融合配置: - 速度阈值: 1.0 m/s - 融合频率: 120 Hz - 时间匹配阈值: 0.01 s - 基准传感器: VIVE (100Hz) - 辅助传感器: SLAM (500Hz) - -融合策略: - 1. 都低速 → 均值融合 (SLERP) - 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) - 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) - 4. 都高速 → 不输出（跳过该帧） - -融合结果统计: - 总融合点数: 724 - 均值融合 (都低速): 724 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:28:33 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182727/session_004/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182727/session_004/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index cfc02a080c0d5305f6cc4c3ebea4da79c36f98fc..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_004/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,725 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158698.52997899055,-5.33633152339924e-05,-0.0009352819307489,0.000334615475677,-0.0023363303012331,-0.0045387785232756,-0.0023535742077549,0.9999842007445362 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-============================================================ - -对齐参数: - SLAM 第一帧时间戳: 158698.529979s - Vive 第一帧时间戳: 1763548104.412471s - 计算的 offset: -1763389405.882492s - 对齐公式: vive_aligned = vive_original + -1763389405.882492 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:28:33 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182727/session_004/Vive_Poses/vive_data_tum.txt b/multi_sessions_20251119_182727/session_004/Vive_Poses/vive_data_tum.txt deleted file mode 100644 index 8206674a98ab1ff27de6b21e1c81726ca6b175f5..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_004/Vive_Poses/vive_data_tum.txt +++ /dev/null @@ -1,724 +0,0 @@ -158698.52997899055 -0.001654651895658818 -0.0006958861924062364 -0.0005896829177068148 -0.0019208563217918142 -1.5310615454911067e-06 -0.002633751876997954 0.9999946868157337 -158698.54004120827 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SLAM (500Hz) - -融合策略: - 1. 都低速 → 均值融合 (SLERP) - 2. VIVE高速，SLAM正常 → 使用SLAM (500Hz) - 3. SLAM高速，VIVE正常 → 使用VIVE (100Hz) - 4. 都高速 → 不输出（跳过该帧） - -融合结果统计: - 总融合点数: 771 - 均值融合 (都低速): 771 - 使用SLAM (VIVE高速): 0 - 使用VIVE (SLAM高速): 0 - 都高速 (已跳过): 0 - 总跳过帧数: 0 - -策略分布: - 均值融合: 100.0% - 使用SLAM: 0.0% - 使用VIVE: 0.0% - -输出率统计: - 输出率: 100.0% - 跳过率: 0.0% - -生成时间: 2025-11-19 18:28:53 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182727/session_005/Merged_Trajectory/merged_trajectory.csv b/multi_sessions_20251119_182727/session_005/Merged_Trajectory/merged_trajectory.csv deleted file mode 100644 index 3837f58597cf5177e584311d6cc5406a20d4966b..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_005/Merged_Trajectory/merged_trajectory.csv +++ /dev/null @@ -1,772 +0,0 @@ -timestamp,Pos X,Pos Y,Pos Z,Q_X,Q_Y,Q_Z,Q_W -158717.8739759922,-0.0003967389794602,-0.0013485270894349,0.00015125992276,-0.0029455737617092,-0.0043829717513505,-0.0039250152000957,0.999978353470474 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0.0026299698819130593 0.04120463282543109 -0.026187991418421146 0.028576837988743258 0.004585297037507051 0.9992379739016686 diff --git a/multi_sessions_20251119_182727/session_005/Vive_Poses/offset_info.txt b/multi_sessions_20251119_182727/session_005/Vive_Poses/offset_info.txt deleted file mode 100644 index 22f560b075faf4f51fc2516a4e86ae6a37aa3ff6..0000000000000000000000000000000000000000 --- a/multi_sessions_20251119_182727/session_005/Vive_Poses/offset_info.txt +++ /dev/null @@ -1,18 +0,0 @@ -Vive 时间戳对齐信息 -============================================================ - -对齐参数: - SLAM 第一帧时间戳: 158717.873976s - Vive 第一帧时间戳: 1763548123.752388s - 计算的 offset: -1763389405.878412s - 对齐公式: vive_aligned = vive_original + -1763389405.878412 - -说明: - - 所有保存的 Vive 数据已使用对齐后的时间戳 - - 时间戳已与 SLAM 数据对齐 - - 坐标已转换到 Gripper 坐标系 - -生成时间: 2025-11-19 18:28:53 -设备标签: main -XV 序列号: 250801DR48FP25002087 -Vive 序列号: LHR_B728E669 diff --git a/multi_sessions_20251119_182727/session_005/Vive_Poses/vive_data_tum.txt 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